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By reducing the final MOVE block to 62 degrees, SPOT is still able to move forward a total of 720 degrees with accuracy (if the final MOVE block was set to Coast instead of Brake, this accuracy could not be guaranteed) It is this error correction that the Brick and motors provide that allows your robot to make very precise movements What if you don t care about the preciseness of the moves and want to shut off the error correction activity of the Brick and motors Well, that s where the RESET MOTOR block comes into the picture Take a look at Figure 24-6, and you ll see SPOT s original program slightly modified..

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Figure 20-14. This MOVE block turns off power to motor A. Now that the cage is closed, I need the bot to slowly begin pushing the figurine (bottle) until it detects the black obsidian rock floor. For testing, I ve taped a black square of paper to the floor behind the bottle. I ll use a LOOP block that will break when the Light Sensor is triggered (see Figure 20-15). Once again, I test the Light Sensor on the black paper to obtain the correct setting (using the instructions in 4 to use the View option on the Brick). The black paper gives me a value of 3; the floor gives me a value of 12. I will set the Light Sensor to trigger if the value drops below 5. Your values may differ, so testing is absolutely required. I need to drop in a MOVE block to perform the pushing action (see Figure 20-16). I ll have it push forward 3.5 inches at a time (half a rotation).

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Figure 24-6. Another NXT-G program to move SPOT In this program, SPOT will perform the same actions, but after the first MOVE block has been executed, the RESET MOTOR block will perform its action. Recall that your Brick and motors are communicating and keeping track of the number of degrees that you ve programmed SPOT to move. If the first MOVE block causes SPOT to move forward 380 degrees, the RESET MOTOR block simply clears that value (resets to 0), and it s as if SPOT never moved at all. The second MOVE block may move SPOT forward another 277 degrees, but the second RESET MOTOR block resets that value to 0, too. Finally, the third MOVE block moves SPOT forward 90 degrees and then brakes. All in all, SPOT has moved forward a total of 747 degrees, not 720. SPOT moved an additional 27 degrees, because the error correction built into the motors has been disabled by the RESET MOTOR blocks.

Note Notice that motors B and C are frequently changing spin direction. In some instances you might

I mean that the wire will become a dashed gray line indicating that you made a mistake If you correctly connected a wire, the wire will have a color: The wire is yellow for the Number data type The wire is orange for the Text data type The wire is green for the Logic data type If the wire is gray (and dashed), the wire is broken and will not work It takes practice to drag and connect wires from plug to plug Sometimes, the wires will do strange things and go off in strange directions You ll just have to play around with them until you figure out how to control them properly Well, now it s time to get back to real NXT-G blocks You ll see in the figures I provide that many times I ll have a block s data hub opened.

That s it for the MOTOR and RESET MOTOR blocks. If you decide that you re not concerned with your robot keeping track of its movement durations and prefer to use the Coast feature with your MOVE blocks (maybe to save battery power), then the RESET MOTOR block may be useful to you. For now though, here s an exercise: Create a program that will spin a single motor a set number of degrees (using the MOTOR block) and then coast to a stop. Send to the LCD display the actual value that the wheel spins due to coasting. Running this exercise will show how using the Coast feature effects the actual distance a robot will travel versus the programmed value. It gives you a chance to observe the coasting effect and see for yourself how the actual number of wheel rotations might not match up to the programmed value. If you need help, I ve included a sample solution at the end of the chapter.

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